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By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001

By J. A. Hudson, D. L. Millar

Paper presented at a meeting on: Artificial intelligence in the minerals sector, held in Nottingham, UK, 20 April 1993 (original title: Rock engineering system performance monitoring using neural networks.) Synthetic and analytical approaches to objective-based design of rock engineering projects are discussed. Rock masses are considered as complex dynamic systems with components that concurrently interact with each other and their environment. The existence of a rock engineering system canon (i.e. a set of systems governing rules) is proposed. Its possible components are highlighted and an application is demonstrated using a "rock mass automaton" designed to simulate dynamic heat distribution in rock. In the example given, the canon implements the basic result from probability theory applied to the thermodynamics of solids. Rock engineering system performance is reduced to the mapping of the output of a rockmass to varying input (design) options, within the state space of the systems model. The Kohonen Self-Organising Map provides an extremely useful analytical tool to reduce the hyper-dimensionality of rock engineering system behaviour. Further, the hyper-dimensional state vector is mapped "quasiconformally" such that the neural map tends to spatially organise similar input state vectors, facilitating interpretation of rock engineering system behaviour (performance monitoring). Work is reported on the development and validation of the automation as a basis for an internal representation of the rock mass bahaviour. The results are reported of simulations compensating for the uncertainty of the exact mechanisms operating within the rock mass, using additive noise with the input state vector in the training stages of the self-organising map implementation. Initial work on adopting Grossberg's Adaptive Resonance Theory neural network architecture for classification of rock engineering systems behaviour is also presented

Apr 1, 1994

By Ivette E. Torres

Aruba, formerly a. part of the Netherlands Antilles, separated on January I, 1986, and became an autonomous part of the Netherlands. Full independence of the island from the Netherlands is scheduled for 1996. In this chapter, however, Aruba's statistics are included with those of the Netherlands Antilles. Tourism continued to be the main industry of the island, which continued to depend heavily on imports, mostly from the United States. During the year, the Government was preparing legislation to regulate the exploration of oil deposits in the relatively shallow sea around Aruba.

Jan 1, 1989

By Lawrence S. Darken

STAFF: Editor, Gerhord Derge Cornegie Institute of Technology Schenley Pork Pittsburgh 13, Pa. Editorial Assistant, M. A. Redmerski Production Editor, Otto T. Johnson THE METALLURGICAL SOCIETY: J. S. Smart, Jr., President; C. C. Long, Past-President; K. L. Fetters, Vice President; T. D. Jones, Treasurer; R. W. Shearman, Secretary. PUBLICATIONS COMMITTEE OF THE METALLURGICAL SOCIETY: C. L. McCabe, Chairman; H. L. Bishop, K. L. Fetters, J. J. Harwood, W. A. Krivsky, F. C. Longenberg, R. E. Lund, W. 0. Philbrook, L. L. Seigle, R. L. Smith, and F. L. Vogal. Review and selection of manuscripts is under the supervision of the following Publications Committees: Extractive Metallurgy Division: C. L. McCabe, Chairman; R. E. Lund, Vice-chairman; D. H. Baker, Jr., W. A. Krivsky, R. A. Lewis, Paul Qusneau, A. S. Russell, R, E. Shinkoskey, W. W. Stephens, and M. E. Wadsworth. Institute of Metals Division: L. L.Seigle, Chair-man, P. A. Back, J. J. Backer, l.l. Bessen, J. 0. Betterton, Jr., J. 8. Clark, R. S. Davis, A. E. Dwight, R. W. Fountain, R. B. Gordon, C. D. Graham, Jr., R. W. Guard, J. C. Gurland, E. L. Harmon, J. J. Hager, A. A. Hendrickson, M. Harmon, J. N. Hobstatter, H. H. Johnson, Jr., H. 5. Kolish, R. R. Nash, T. N. Rhodin, R. H. Richman, W. Rostokar, P. G. Shawmon, C. W. Spencer, L. Slifkin, J. K. Stanley, C. D. Starr, R. Steinitz, and H. C. Stumpf. Iron and Steel Division: H. L. Bishop, Chairman; 2. E. Boni, F. C. Langenberg, J. B. Wagstaff, and T. V. Wainwright. Published bimonthly by the American Institute of Mining, Metallurgical, and Petroleum Engineers, Inc., 29 West 39th Street, New York 18, N. Y. Telephone: PEnnsylvania 6-9220. Subscription PetroleumEngineers,$30 per year for non-AIME members in United States and North, South, and Central America; 332, foreign; $5 for AlME members. Single copies, $4.00, single copies foreign, $5.00. The AlME is not responsible for any statement mode or opinion expressed in its publications . . . Copyright 1%1 by the American Institute of Mining, Metallurgical, and Petroleum Engineers, Inc. . . . Registered cable address; AIME New York ..Indexed in Engineering Index, Industrial Arts Index, and Chemical Abstracts.. .Second class postage paid at New York, N. Y., and Ann Arbor, Mich. Volume 221, Number 4.

Jan 1, 1962

By K. Biswas, S. Iverson, S. J. Jung

Computer modeling of rock flow in ore passes is being investigated and compared using MSC Soft-ware’s Working Model 2D1 (WM2D) and Itasca Corp.’s Particle Flow Code in Two Dimensions (PFC2D). This work is being carried out by the Spokane Research Laboratory of the National Institute for Occupational Safety and Health to determine the usefulness of computer modeling to improve ore pass design. The types of tests included pendulum tests to validate WM2D simulations and simulated single-rock drop tests in both WM2D and PFC2D to understand their contact models. Simulated rock impacts at the ore pass chute and the use of inclined ore passes and doglegs were investigated in both programs. A PFC2D simulation showed that dynamic loads at the chute gate were reduced significantly when a dogleg transition was used, and simulations in which the ore pass was inclined showed significant reductions in chute impact loads compared to simulations of a vertical ore pass. A released hang-up was simulated using PFC2D.

By A. P. Whittlestone, J. D. Johnson, R. J. Pine, M. E. Rogers

standpoint. The effect on efficiency of collisions

Apr 1, 1995

By M. K. Larson

The U.S. Bureau of Mines conducted a study to evaluate support interaction between conventional bolts and the rib at two Western coal mines. The principal goal was to develop guidelines for designing rib support under various conditions. At mine A, seven rib bolts were installed with load cells and monitored over a 4-month period. Fifty-seven pull tests were conducted with two types of anchors at various depths. At mine B, 163 pull tests were conducted. Results showed that during the 4 months of monitoring bolt load, tension in the bolts decreased over time in some situations and that anchorage capacity was reduced in a yielded zone. Load-versus-deformation plots from pull tests in the rib showed fundamental differences in anchorage behavior at the two mines, particularly when comparing results of tests in old pillars at mine A and tests in new ribs at mine B. Numerical modeling experiments indicate that coal bonding strength was the most significant factor in determining postyield anchorage capacity. Correlation of anchor yield point with anchor depth were more pronounced at mine A than at mine B; measuring torque may be a reasonable method of monitoring deteriorating anchorage capacity in a rib undergoing fracturing and yield.

Jan 1, 1996

By C. C. Pretorius

3D seismic surveys have become a well-accepted method of imaging sub-surface geology in the Bushveld Basin. Because both the seismic sources and receivers are placed at surface, most surveys are limited to imaging faults with >=7 m throw. However, some areas such as shaft infrastructure can benefit from the ability to detect smaller structures prior to shaft sinking. Borehole radar and logs such as the acoustic televiewer can identify these structures in the shaft barrel, but not within -200 m from the shaft. Therefore, Anglo Platinum has developed the method of high-resolution 3D vertical seismic profiles (VSPs) for structural sterilization of shaft sites prior to shaft sinking. VSPs utilize a surface source and sub-surface receivers deployed down a borehole. This means that seismic energy goes through the near surface only once, and therefore suffers less frequency loss than when both source and receivers are on surface. Furthermore, VSPs can record 3 component (3C) data which comprises P wave, Sh (horizontal) and Sv (vertical) wavemodes. Because S waves travel at about 0.6 of the velocity of a P wave, shorter wavelengths and therefore higher resolutions are possible using S wave data. VSPs were first used in their one dimensional, zero offset, mode to correlate borehole geology with seismic stratigraphy within seismic surveys. This showed that VSPs record -30% higher frequencies than surface seismic surveys. The program then applied two dimensional VSPs to the problem of imaging geological structure close to a borehole. 2D VSPs confirmed that high frequency results could be achieved, and that this enabled a more accurate image of the Merensky Reef than could be achieved by surface seismic data. Finally, the program has achieved the successful recording and processing of 3D VSP data, with both compressional and shear wavemodes giving a high resolution structural result. Although P wave data gives -30% frequency improvement over surface seismic surveys, S wave data can give as much as 80% improvement, further improving the structural image achieved. The high fixed costs of VSP surveys mean that they should ideally be run in multi-client batches, which can reduce the per borehole cost by up to 50%. Their application is anticipated to be on high value capital infrastructure with a geological risk from faults which are not imaged by surface seismics-generally in the sub-7 m range. Keywords VSP, 3D seismic, bushveld, platinum, resolution, imaging, shear waves, shaft sinking.

Jan 1, 2011

By Wawa Jaka Sungkawa, Slamet Rachman Jaka, Tom Dermody

Nowadays, with such a focus on environmental protection, surface mining activities have come under pressure to ensure their activities do not adversely affect the local surroundings. As part of the extractive process, blasting activities are an integral part of a mining company’s operational cycle. Consequently achieving beneficial blast results while complying with environmental requirements has become a key focus. This especially is the case when firing blasts within close proximity of residents where additional control measures need to be implemented to control vibration. One case where this occurs in Indonesia is in the Paringin Pit, one of the operational areas of the company's. The pit has complex geological conditions and is surrounded by several residential areas. Between 2014 to 2017 there were 12 cases of ground vibration exceedance due to blasting. As part of a continuous improvement project the company's targeted minimizing the vibration exceedance in this area. A project was undertaken to research and develop a method to confidently predict vibration. It was decided that the scaled distance formulas were not adequate to predict vibration when using non-electric detonators, as accurate wave propagation could not be achieved. The problem is how to manage of complex geology condition related with wave propagation in ground vibration control. Geological condition mapping with specific spatial range can and combine with Signature Hole Analysis be a solution to make wave propagation easier to accommodate in ground vibration control. With this new approach geological condition mapping with specific spatial range was produced that would minimize vibration while ensuring beneficial blast results. Introducing the new prediction produced nil cases of vibration exceedance in 2018 and beyond and proved that the Signature Hole Analysis in specific spatial range of geological condition is the preferred method to optimize blast result and maintain vibration control.

Hot briquetting is a reliable, fully developed industrial concept for the passivation of direct reduced iron produced with the various processes of direct reduction. During hot briquetting, the large specific surface area of direct reduced iron is drastically reduced, and therefore the well-known problems caused by reoxidation and overheating are avoided. Even the shipping instructions published by the International Maritime Organisation (IMO) confirm that Hot Briquetted Iron (HBI) can be handled and shipped without special precautions. From the mid-1970s until today, after extensive pilot testing of the technology, a number of industrial plants for the hot briquetting of direct reduced iron have gone into operation. Additional hot briquetting plants for already established but also for new direct reduction processes are tinder construction or in different stages of planning. This paper describes the characteristics of HBI and its current industrial application for various Direct Reduction Processes.

Jan 1, 1999

By C. Y. Liu

This paper principally deals with the application of caisson foundation in the Chinese bridge building industry, the different types of caisson foundation adopted, and their spheres of application. Caisson foundation has been used and speedily developed for bridge works in New China, and a number of new innovations have been made in its design. Especially in deep water foundation, the Nanjing Bridge over Changjiang has attained one of the deepest bridge foundations in the world. There are six types of deep caisson foundation being now in use in China, namely:

Jan 1, 2010

By Pekka Taskinen

Advanced optimizing control of the fluidised bed zinc roaster has been in use for an extended period at Boliden Kokkola and the implications are seen as extended bed stability, increased throughput and far better on-line availability. The roaster furnace control system developed is based on a dynamic and predictive furnace model, with parameters determined experimentally at the site. The controller maximises the concentrate feed and keeps the furnace operational parameters inside limits given by raw material mix and equipment constraints. The products of a zinc roaster, calcine, sulphur dioxide and the side products, such as mercury, meet gradually more stringent requirements, in particular as to their assays and total recoveries in the process chain. The end users of sulphuric acid in northern Europe, among others in the pulp and paper industry, require mercury levels much less than the conventional 0.2-0.4 ppm Hg. Therefore, secondary de-mercurising circuits have been used over the last five years for further cleaning the SO2 stream allowing production acid grades with less than 0.08 ppm Hg.

Jan 1, 2008

By Fredrik Sarvell, Leo-Ville Miettinen, Veli-Matti Uotinen

"Abstract The continued concentration of building activities in cramped areas of city centres means more underground construction and facilities. Demand to minimize execution time and any kind of disturbance to business, general traffic, people and nearby technical structures is increasing. To answer these challenges foundation business has to develop schedule-wise and technically reliable deep excavation and foundation solutions in vulnerable surroundings and challenging soil conditions.Drilled pipe pile wall – RD-pile wall – is a combination of Ruukki drilled steel pipe piles and interlocking sections. Individual RD piles, typical diameters between 219 mm to 610 mm, are connected to each other with interlocks welded to the piles on the automated welding line at the workshop. The matching dimensions of the drilling system and interlocking sections allow the installation of RD piles through stones and boulders and even into the bedrock, if necessary, in a single operation. Installation is done by a down-the-hole hammer (DTH) using the centric drilling system and oversized ring bits or a drilling system consisting of a pilot bit and reamer wings.RD-pile walls have been used as permanent and temporary retaining walls for different kinds of demanding excavations and structures, such as bridge foundation, as quay wall and as sealing structure in rehabilitation of an existing dam. Rigidity and watertightness of the lower end of the RDpile wall is being researched as well as fire design issues examined. One of the most fascinating RDpile wall solution is to utilize the wall as a permanent underground basement wall. Reliable and rigid connection to bedrock decreases the bending moment and deflection of the wall and good fire resistance in addition to large variety of pile dimensions and steel grades gives possibilities to design and execute a cost-efficient basement wall and foundations without temporary retaining wall works. 1. IntroductionIn northern Scandinavian soil conditions, installation of sheet pile walls, or even secant pile walls, is often problematic due to the existence of hard and large boulders in the overburden, and especially when the retaining wall structure should penetrate to or into the hard bedrock. On the other hand, an efficient and reliable piling technique suitable for the demanding soil conditions described above, percussion drilling, has been developed since the 1960’s, and especially from the mid-1990’s, when the concentric drilling method with the ring bit and pilot was introduced. A new retaining wall application, the RD pile wall was developed by combining that drilling method with the widely used retaining wall solution based on steel pipe piles and welded interlocks (a pipe pile wall normally installed with vibratory or impact hammers)."

Jan 1, 2014

By James Diekmann

The Disputes Potential Index (DPI) is a computer program designed to help team mem¬bers assess the likelihood of contract disputes on a construction project. The program's predictions are based on data from 159 construction projects that encompass a variety of public and private projects. The impact of three categories of project characteristics are included in the DPI program, specifically, people, process and project characteristics. Ultimately, DPI returns an overall project score that indicates the likelihood of exces¬sive contract disputes. The output of a DPI analysis can be used as part of a contract readiness review or to define the need for extraordinary dispute avoidance procedures. This paper examines the development of DPI and presents the results of DPI analyses on several tunneling projects.

Jan 1, 1995

By John G. Henning

The Hoyle Pond underground mine is located in the Porcupine Gold Camp, 18 km east of downtown Timmins. Since the initiation of production in 1985, the operation has produced in excess of 1.9 million ounces of gold at a grade of 15 grams per tonne. Currently, Hoyle Pond ranks 8th in total ounce production for all past and present producing mines in the camp, with the highest head grade of any of the significant past, or present producing mines in Timmins. Cut and fill, shrinkage, longhole and panel mining methods are employed to excavate the narrow gold bearing structures. Using illustrative examples, this paper provides an overview of factors, such as geologic setting, rock mechanics challenges and mine infrastructure, which influence mine design at Hoyle Pond.

Oct 1, 2004

By Walter Smith

Environmental Quality Committee ?EQC was created in 1995 to facilitate dialogue between industry and northern communities and help build the understanding of the industry in those communities. ?EQC is made up of representatives from 32 northern communities. ?Meet regularly with Cameco to discuss on going and new projects. ?Tour mine sites on a yearly basis.

Nov 1, 2011

By Vincent A. Scovazzo

On March 12, 1994, the 1,100-foot deep 2 Yard South panel of the 1l0 year-old Retsof Mine collapsed. At the time of this occurrence, the Retsof Mine was characterized as the world's largest, most productive salt mine. The collapse produced a seismic event and resulted in a sinkhole and small lake forming on the surface. An existing highway bridge was rendered unusable. Water entered the mine and despite valiant efforts by the miners and the mining company, the entire mine was flooded and lost. John T. Boyd Company (BOYD) studied the incident to evaluate design procedures, and assess the short- and long-term environmental impacts of the collapse. This paper presents our analysis of the cause of the collapse and our review of the rock mechanics design of 2 Yard South panel. Our review is, in part, based on a rock mechanics monitoring program of 2 Yard South. The monitoring program was established by the mining company as the panel was developed and continued even after the panel became unstable.

Jan 1, 1997

By Schlanger H. P

A theoretical model for gas outbursts in underground coal mines is as follows. An outburst is the structural failure ofcoal due to excess stress resulting from body forces caused by gas pressure gradients. These body forces influence the stability of a mine face in the same manner that gravitational body forces affect the stability of the roof of a mine. The magnitude ofthese body forces can be appreciated when it is realized that for an average density coal, the gravitational body force is equal in magnitude to the force from a gas flow with a pressure gradient of 14 kPa m-I. Gas pressure gradients and the resultant stresses within a seam can be calculated with numerical methods. Thus, providing the necessary parameters can be measured or estimated, in principle the theory can be applied to compare the outburst risk of various mining arrangements.

Jan 1, 1985

By J. E. Friant

The Mini-DiscTM cutter drill bit is a radical design departure from the traditional tri-cone rockdrill bit. Miniature disc type cutting tools as small as 3.25 inches (82.5 mm) diameter are fitted to a bit body to cut individual concentric kerfs. The action is the same as that commonly used on large tunnel boring machines but miniaturized. The high performance rate and efficiency of a disc cutter are the result of producing a large proportion rock chips rather than sand or powder. The Mini-DiscTM drill bit, referred to as the “Disc Bit” has other unique features as well. It can be re-greased between runs. It can be rebuilt in the field in about 15 minutes, cutters can be replaced and the Disc-Bit appears to require less down hole hydraulic power than conventional bits. Thoroughly tested in the laboratory, the bit has recently been undergoing field trials in well drilling, blast hole drilling and shaft drilling. As any engineer knows, the laboratory can not shake out all the problems but it eliminates the more glaring weaknesses. Performance results have been exhilarating, and a few mechanical problems were discovered and largely overcome. This paper is a progress report.

Jan 1, 1999

By C A. Locke, J Cassidy, J L. Mauk

The Waihi-Waitekauri region hosts numerous low-sulfidation epithermal deposits that both outcrop and occur at depth. Zones of intense hydrothermal alteration enclose the Au-Ag bearing quartz vein deposits. Hydrothermal alteration includes the destruction of magnetite by hydrothermal fluids, pervasive silicification adjacent to quartz lodes and potassium enrichment due to adularia and illite deposition. High-resolution airborne magnetic and radiometric, and new gravity data delineate distinct geophysical anomalies associated with hydrothermal alteration and mineralisation. Five magnetically quiet zones occur in the region varying in size from 3 to 34 km2 and in geometry from circular to irregular zones. These zones represent the near-surface extent of strong to intense hydrothermal alteration associated with fossil geothermal systems. All epithermal deposits in the region occur in magnetically quiet zones. Over 120 new gravity stations together with existing data across the Waihi district have defined a positive Bouguer gravity anomaly coincident with the magnetically quiet zone. Eastern and western gradients of 50 gu/km bound the anomaly that contains two flat gravity highs west and east of the Waihi deposit. Strong potassium signatures in airborne radiometric data correlate with outcropping zones of alteration and are consistent with the presence of adularia and illite minerals. Hydrothermally altered zones are represented by areas of low Th/K ratios as a result of low thorium concentrations in andesite and elevated potassium levels in altered zones.

Jan 1, 2003